Real-Time Ellipse Detection for Robotics Applications

@article{Keipour2021RealTimeED,
  title={Real-Time Ellipse Detection for Robotics Applications},
  author={Azarakhsh Keipour and Guilherme A. S. Pereira and Sebastian A. Scherer},
  journal={IEEE Robotics and Automation Letters},
  year={2021},
  volume={6},
  pages={7009-7016}
}
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good fit. The resulting detection and tracking method is lightweight enough to be used on robots’ resource-limited onboard computers, can deal with lighting variations and detect the pattern even when the view is partial. The method is tested on an example… 
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